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   <div id="projectname">gbmath
   &#160;<span id="projectnumber">v0.051</span>
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   <div id="projectbrief">c++ math library</div>
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<div class="title">quaternion.h</div>  </div>
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<a href="quaternion_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#pragma once</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor"></span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#ifndef __GBMATH_H__</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor"></span><span class="preprocessor">   #error  DO NOT INCLUDE THIS FILE. USE:   #include &lt;gbmath/_gbmath.h&gt;</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor"></span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;</div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;</div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="keyword">namespace </span>gbmath</div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;{</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;</div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;</div>
<div class="line"><a name="l00026"></a><span class="lineno"><a class="code" href="classgbmath_1_1_quaternion.html">   26</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classgbmath_1_1_quaternion.html" title="standard quaternion. ">Quaternion</a>   </div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    {</div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;        <span class="keyword">union </span>{</div>
<div class="line"><a name="l00031"></a><span class="lineno"><a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">   31</a></span>&#160;            <span class="keyword">struct </span>{ <span class="keywordtype">float</span> <a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a>, <a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a>, <a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a>, <a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a>;  };</div>
<div class="line"><a name="l00032"></a><span class="lineno"><a class="code" href="classgbmath_1_1_quaternion.html#a1e0bfdecbadcffcf920226f49c95dabb">   32</a></span>&#160;            <span class="keywordtype">float</span> <a class="code" href="classgbmath_1_1_quaternion.html#a1e0bfdecbadcffcf920226f49c95dabb">floats</a> [4];</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;        };</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;</div>
<div class="line"><a name="l00035"></a><span class="lineno"><a class="code" href="classgbmath_1_1_quaternion.html#ace63b7eb298503624b207e9325ebc139">   35</a></span>&#160;        <span class="keyword">inline</span> <a class="code" href="classgbmath_1_1_quaternion.html#ace63b7eb298503624b207e9325ebc139">Quaternion</a>() </div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;        { </div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;            <a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a>=<a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a>=<a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a>=0.0f; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;            <a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a>=1.0f; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;        }</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;        </div>
<div class="line"><a name="l00041"></a><span class="lineno"><a class="code" href="classgbmath_1_1_quaternion.html#a4e9f9cfcaf50f2e401befe4bf9e70a4f">   41</a></span>&#160;        <span class="keyword">inline</span> <a class="code" href="classgbmath_1_1_quaternion.html#a4e9f9cfcaf50f2e401befe4bf9e70a4f">Quaternion</a>(<span class="keyword">const</span> <a class="code" href="classgbmath_1_1_quaternion.html" title="standard quaternion. ">Quaternion</a>&amp; q)</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;        {</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;            <a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a>=q.<a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a>; <a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a>=q.<a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a>; <a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a>=q.<a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a>; <a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a>=q.<a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a>;</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;            <a class="code" href="classgbmath_1_1_quaternion.html#a5130bea810979f459d5052cd08051570">normalize</a>();</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;        }</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;</div>
<div class="line"><a name="l00047"></a><span class="lineno"><a class="code" href="classgbmath_1_1_quaternion.html#a3ce8d06d2ec5be4f17f9ec291b7bc01a">   47</a></span>&#160;        <span class="keyword">inline</span> <a class="code" href="classgbmath_1_1_quaternion.html#a3ce8d06d2ec5be4f17f9ec291b7bc01a">Quaternion</a>(<span class="keywordtype">float</span> _x, <span class="keywordtype">float</span> _y, <span class="keywordtype">float</span> _z, <span class="keywordtype">float</span> _w)</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;        {</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;            <a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a>=_x; <a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a>=_y; <a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a>=_z; <a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a>=_w;</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;            <a class="code" href="classgbmath_1_1_quaternion.html#a5130bea810979f459d5052cd08051570">normalize</a>();</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;        }</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;</div>
<div class="line"><a name="l00053"></a><span class="lineno"><a class="code" href="classgbmath_1_1_quaternion.html#a00d8926c630413d014d03bf88573bcc2">   53</a></span>&#160;        <span class="keyword">inline</span> <a class="code" href="classgbmath_1_1_quaternion.html#a00d8926c630413d014d03bf88573bcc2">Quaternion</a>(<span class="keyword">const</span> <span class="keywordtype">float</span>* pfArray)</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;        {</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;             <a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a> = pfArray[0];</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;             <a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a> = pfArray[1];</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;             <a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a> = pfArray[2];</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;             <a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a> = pfArray[3];</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;        }</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;        <span class="comment">//-----------------------------------------------------------------</span></div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;        <span class="comment">//                     operators</span></div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;        <span class="comment">//-----------------------------------------------------------------</span></div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;</div>
<div class="line"><a name="l00065"></a><span class="lineno"><a class="code" href="classgbmath_1_1_quaternion.html#af3442468bdba57402cb4d173b95964ab">   65</a></span>&#160;        <span class="keyword">inline</span> <span class="keyword">operator</span>         <span class="keywordtype">float</span>*()         { <span class="keywordflow">return</span> &amp;<a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a>; };</div>
<div class="line"><a name="l00066"></a><span class="lineno"><a class="code" href="classgbmath_1_1_quaternion.html#aac5fd837aaec3652b8189c0584a7e3e7">   66</a></span>&#160;        <span class="keyword">inline</span> <span class="keyword">operator</span> <span class="keyword">const</span>   <span class="keywordtype">float</span>*() <span class="keyword">const</span>   { <span class="keywordflow">return</span> &amp;<a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a>; };</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;</div>
<div class="line"><a name="l00069"></a><span class="lineno"><a class="code" href="classgbmath_1_1_quaternion.html#ab9431aa2f13e7dd9461f7a1856bb82d1">   69</a></span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="classgbmath_1_1_quaternion.html#ab9431aa2f13e7dd9461f7a1856bb82d1">operator == </a>(<span class="keyword">const</span> <a class="code" href="classgbmath_1_1_quaternion.html" title="standard quaternion. ">Quaternion</a> &amp;q)<span class="keyword"> const</span></div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;            <span class="keywordflow">return</span>  <a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a> == q.<a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a> &amp;&amp; <a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a> == q.<a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a> &amp;&amp; <a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a> == q.<a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a> &amp;&amp; <a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a> == q.<a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a> ||</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;                <a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a> == -q.<a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a> &amp;&amp; <a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a> == -q.<a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a> &amp;&amp; <a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a> == -q.<a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a> &amp;&amp; <a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a> == -q.<a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a>;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        }</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;</div>
<div class="line"><a name="l00075"></a><span class="lineno"><a class="code" href="classgbmath_1_1_quaternion.html#a12fb530f8068ad8fb55d800769ec4abe">   75</a></span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="classgbmath_1_1_quaternion.html#a12fb530f8068ad8fb55d800769ec4abe">operator != </a>(<span class="keyword">const</span> <a class="code" href="classgbmath_1_1_quaternion.html" title="standard quaternion. ">Quaternion</a> &amp;q)<span class="keyword"> const</span></div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;            <span class="keywordflow">return</span>  !(<a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a> == q.<a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a> &amp;&amp; <a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a> == q.<a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a> &amp;&amp; <a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a> == q.<a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a> &amp;&amp; <a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a> == q.<a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a> ||</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;                <a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a> == -q.<a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a> &amp;&amp; <a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a> == -q.<a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a> &amp;&amp; <a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a> == -q.<a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a> &amp;&amp; <a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a> == -q.<a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a>);</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        }</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;</div>
<div class="line"><a name="l00081"></a><span class="lineno"><a class="code" href="classgbmath_1_1_quaternion.html#a208218ad1f406546e0d5d548c9e04185">   81</a></span>&#160;        <span class="keyword">inline</span> <a class="code" href="classgbmath_1_1_quaternion.html" title="standard quaternion. ">Quaternion</a>&amp;  <a class="code" href="classgbmath_1_1_quaternion.html#a208218ad1f406546e0d5d548c9e04185">operator += </a>( <span class="keyword">const</span> <a class="code" href="classgbmath_1_1_quaternion.html" title="standard quaternion. ">Quaternion</a>&amp; q )</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        {</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;            <a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a> += q.<a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a>;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;            <a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a> += q.<a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a>;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;            <a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a> += q.<a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a>;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;            <a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a> += q.<a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a>;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;            <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        }</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;</div>
<div class="line"><a name="l00090"></a><span class="lineno"><a class="code" href="classgbmath_1_1_quaternion.html#a60626bd1c65bb597a2cddd6a0043a2fd">   90</a></span>&#160;        <span class="keyword">inline</span> <a class="code" href="classgbmath_1_1_quaternion.html" title="standard quaternion. ">Quaternion</a>&amp; <a class="code" href="classgbmath_1_1_quaternion.html#a60626bd1c65bb597a2cddd6a0043a2fd">operator -= </a>( <span class="keyword">const</span> <a class="code" href="classgbmath_1_1_quaternion.html" title="standard quaternion. ">Quaternion</a>&amp; q )</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;        {</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;            <a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a> -= q.<a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a>;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;            <a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a> -= q.<a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a>;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;            <a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a> -= q.<a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a>;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;            <a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a> -= q.<a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a>;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;            <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        }</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;</div>
<div class="line"><a name="l00099"></a><span class="lineno"><a class="code" href="classgbmath_1_1_quaternion.html#aa8f8502e8ef52c07732763c208a1aede">   99</a></span>&#160;        <span class="keyword">inline</span> <a class="code" href="classgbmath_1_1_quaternion.html" title="standard quaternion. ">Quaternion</a>&amp; <a class="code" href="classgbmath_1_1_quaternion.html#aa8f8502e8ef52c07732763c208a1aede">operator *= </a>( <span class="keyword">const</span> <span class="keywordtype">float</span> f )</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        {</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;            <a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a> *= f;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;            <a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a> *= f;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;            <a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a> *= f;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;            <a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a> *= f;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;            <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        }</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;</div>
<div class="line"><a name="l00108"></a><span class="lineno"><a class="code" href="classgbmath_1_1_quaternion.html#a14f3d289a273cc9301048e431039d8b8">  108</a></span>&#160;        <span class="keyword">inline</span> <a class="code" href="classgbmath_1_1_quaternion.html" title="standard quaternion. ">Quaternion</a>&amp; <a class="code" href="classgbmath_1_1_quaternion.html#a14f3d289a273cc9301048e431039d8b8">operator /= </a>( <span class="keyword">const</span> <span class="keywordtype">float</span> f )</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        {</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">float</span>  fInverse = 1.0f/f;</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;            <a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a> *= fInverse;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;            <a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a> *= fInverse;</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;            <a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a> *= fInverse;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;            <a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a> *= fInverse;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;            <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        }</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;</div>
<div class="line"><a name="l00118"></a><span class="lineno"><a class="code" href="classgbmath_1_1_quaternion.html#a18aee86c79430c00e00bc50d74f501a1">  118</a></span>&#160;        <span class="keyword">inline</span> <a class="code" href="classgbmath_1_1_quaternion.html" title="standard quaternion. ">Quaternion</a> <a class="code" href="classgbmath_1_1_quaternion.html#a18aee86c79430c00e00bc50d74f501a1">operator + </a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;            <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        }</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;</div>
<div class="line"><a name="l00123"></a><span class="lineno"><a class="code" href="classgbmath_1_1_quaternion.html#a0f6f2e179433983e58702e9b2f24d67d">  123</a></span>&#160;        <span class="keyword">inline</span> <a class="code" href="classgbmath_1_1_quaternion.html" title="standard quaternion. ">Quaternion</a> <a class="code" href="classgbmath_1_1_quaternion.html#a0f6f2e179433983e58702e9b2f24d67d">operator - </a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;            <span class="keywordflow">return</span> <a class="code" href="classgbmath_1_1_quaternion.html#ace63b7eb298503624b207e9325ebc139">Quaternion</a>(-<a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a>, -<a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a>, -<a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a>, -<a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a>);</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        }</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;</div>
<div class="line"><a name="l00128"></a><span class="lineno"><a class="code" href="classgbmath_1_1_quaternion.html#afe3fe0f26046ae610eb46d57d76658ae">  128</a></span>&#160;        <span class="keyword">inline</span> <a class="code" href="classgbmath_1_1_quaternion.html" title="standard quaternion. ">Quaternion</a> <a class="code" href="classgbmath_1_1_quaternion.html#a18aee86c79430c00e00bc50d74f501a1">operator + </a>( <span class="keyword">const</span> <a class="code" href="classgbmath_1_1_quaternion.html" title="standard quaternion. ">Quaternion</a>&amp; q )<span class="keyword"> const</span></div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;            <span class="keywordflow">return</span> <a class="code" href="classgbmath_1_1_quaternion.html#ace63b7eb298503624b207e9325ebc139">Quaternion</a>(<a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a> + q.<a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a>, <a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a> + q.<a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a>, <a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a> + q.<a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a>, <a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a> + q.<a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a>);</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        }</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;</div>
<div class="line"><a name="l00133"></a><span class="lineno"><a class="code" href="classgbmath_1_1_quaternion.html#a285f23cfbf3ec57a4d67e0bff7a3142e">  133</a></span>&#160;        <span class="keyword">inline</span> <a class="code" href="classgbmath_1_1_quaternion.html" title="standard quaternion. ">Quaternion</a> <a class="code" href="classgbmath_1_1_quaternion.html#a0f6f2e179433983e58702e9b2f24d67d">operator - </a>( <span class="keyword">const</span> <a class="code" href="classgbmath_1_1_quaternion.html" title="standard quaternion. ">Quaternion</a>&amp; q )<span class="keyword"> const</span></div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;            <span class="keywordflow">return</span> <a class="code" href="classgbmath_1_1_quaternion.html#ace63b7eb298503624b207e9325ebc139">Quaternion</a>(<a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a> - q.<a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a>, <a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a> - q.<a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a>, <a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a> - q.<a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a>, <a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a> - q.<a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a>);</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        }</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;</div>
<div class="line"><a name="l00138"></a><span class="lineno"><a class="code" href="classgbmath_1_1_quaternion.html#afeab251479afae6baec7b7198ee2a819">  138</a></span>&#160;        <span class="keyword">inline</span> <a class="code" href="classgbmath_1_1_quaternion.html" title="standard quaternion. ">Quaternion</a> <a class="code" href="classgbmath_1_1_quaternion.html#afeab251479afae6baec7b7198ee2a819">operator * </a>( <span class="keyword">const</span> <a class="code" href="classgbmath_1_1_quaternion.html" title="standard quaternion. ">Quaternion</a> &amp;q )<span class="keyword"> const</span></div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;            <a class="code" href="classgbmath_1_1_quaternion.html" title="standard quaternion. ">Quaternion</a> res;</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;            res.<a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a> = <a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a>*q.<a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a> + <a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a>*q.<a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a> + <a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a>*q.<a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a> - <a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a>*q.<a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a>;</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;            res.<a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a> = <a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a>*q.<a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a> + <a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a>*q.<a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a> + <a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a>*q.<a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a> - <a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a>*q.<a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a>;</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;            res.<a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a> = <a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a>*q.<a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a> + <a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a>*q.<a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a> + <a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a>*q.<a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a> - <a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a>*q.<a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a>;</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;            res.<a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a> = <a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a>*q.<a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a> - <a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a>*q.<a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a> - <a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a>*q.<a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a> - <a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a>*q.<a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a>;</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;            <span class="keywordflow">return</span> res;</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        }</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;</div>
<div class="line"><a name="l00149"></a><span class="lineno"><a class="code" href="classgbmath_1_1_quaternion.html#a745f2b00b32dd680c1c974c3acb285b4">  149</a></span>&#160;        <span class="keyword">inline</span> <a class="code" href="classgbmath_1_1_quaternion.html" title="standard quaternion. ">Quaternion</a> <a class="code" href="classgbmath_1_1_quaternion.html#afeab251479afae6baec7b7198ee2a819">operator * </a>( <span class="keyword">const</span> <span class="keywordtype">float</span> f )<span class="keyword"> const</span></div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;            <span class="keywordflow">return</span> <a class="code" href="classgbmath_1_1_quaternion.html#ace63b7eb298503624b207e9325ebc139">Quaternion</a>( <a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a>*f, <a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a>*f, <a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a>*f, <a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a>*f );</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;        }</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;</div>
<div class="line"><a name="l00155"></a><span class="lineno"><a class="code" href="classgbmath_1_1_quaternion.html#a972ceafed4e8b978b9ca007ed57acf3a">  155</a></span>&#160;        <span class="keyword">inline</span> <a class="code" href="classgbmath_1_1_quaternion.html" title="standard quaternion. ">Quaternion</a> <a class="code" href="classgbmath_1_1_quaternion.html#a972ceafed4e8b978b9ca007ed57acf3a">operator / </a>( <span class="keyword">const</span> <span class="keywordtype">float</span> f )<span class="keyword"> const</span></div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">float</span> fInverse = 1.0f / f;</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;            <span class="keywordflow">return</span> <a class="code" href="classgbmath_1_1_quaternion.html#ace63b7eb298503624b207e9325ebc139">Quaternion</a>(<a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a> * fInverse, <a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a> * fInverse, <a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a> * fInverse, <a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a> * fInverse);</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        }</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;</div>
<div class="line"><a name="l00161"></a><span class="lineno"><a class="code" href="classgbmath_1_1_quaternion.html#ac8ad0190e3b7fa494cee653f1c6d1a0b">  161</a></span>&#160;        <span class="keyword">inline</span> <a class="code" href="classgbmath_1_1_quaternion.html" title="standard quaternion. ">Quaternion</a>&amp;   <a class="code" href="classgbmath_1_1_quaternion.html#aa8f8502e8ef52c07732763c208a1aede">operator *= </a>(<span class="keyword">const</span> <a class="code" href="classgbmath_1_1_quaternion.html" title="standard quaternion. ">Quaternion</a> &amp;q)</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        {</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;            <a class="code" href="classgbmath_1_1_quaternion.html" title="standard quaternion. ">Quaternion</a> r(*<span class="keyword">this</span>);</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;            *<span class="keyword">this</span>=r*q;</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;            <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;        }</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;<span class="preprocessor">#ifdef __D3DX9MATH_H__</span></div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;<span class="preprocessor"></span></div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;        <span class="keyword">inline</span> <span class="keyword">operator</span> D3DXQUATERNION*()             { <span class="keywordflow">return</span> (D3DXQUATERNION*)&amp;<a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a>; }</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;        <span class="keyword">inline</span> <span class="keyword">operator</span> <span class="keyword">const</span> D3DXQUATERNION*() <span class="keyword">const</span> { <span class="keywordflow">return</span> (D3DXQUATERNION*)&amp;<a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a>; }</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;        <span class="keyword">inline</span> <span class="keyword">operator</span> D3DXQUATERNION() { <span class="keywordflow">return</span> D3DXQUATERNION( <a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a> , <a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a> , <a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a> , <a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a> ); }</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classgbmath_1_1_quaternion.html#a19cf4a3a9a679ea45a41341e54c7f327">operator = </a>(<span class="keyword">const</span> D3DXQUATERNION&amp; q) { <a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a>=q.x; <a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a>=q.y; <a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a>=q.z; <a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a>=q.w; }</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;<span class="preprocessor">#endif //#ifdef __D3DX9MATH_H__</span></div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;<span class="preprocessor"></span></div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;        <span class="comment">//----------------------------------------------------------------//</span></div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;        <span class="comment">//                           methods                                  //</span></div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;        <span class="comment">//----------------------------------------------------------------//</span></div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;        <span class="comment">// \brief  set and normalize</span></div>
<div class="line"><a name="l00185"></a><span class="lineno"><a class="code" href="classgbmath_1_1_quaternion.html#aaa1d359508bd04b0b6a0d80c028be925">  185</a></span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classgbmath_1_1_quaternion.html#aaa1d359508bd04b0b6a0d80c028be925">set</a>(<span class="keywordtype">float</span> _x, <span class="keywordtype">float</span> _y, <span class="keywordtype">float</span> _z, <span class="keywordtype">float</span> _w)</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;        {</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;            <a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a>=_x; <a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a>=_y; <a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a>=_z; <a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a>=_w;</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;            <a class="code" href="classgbmath_1_1_quaternion.html#a5130bea810979f459d5052cd08051570">normalize</a>();</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        }</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;</div>
<div class="line"><a name="l00191"></a><span class="lineno"><a class="code" href="classgbmath_1_1_quaternion.html#a9e2a669b650eaaab081c239f9089c442">  191</a></span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classgbmath_1_1_quaternion.html#a9e2a669b650eaaab081c239f9089c442">setIdentity</a>() </div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;        { </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;            <a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a>=<a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a>=<a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a>=0.0f; <a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a>=1.0f; </div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;        }</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;        </div>
<div class="line"><a name="l00197"></a><span class="lineno"><a class="code" href="classgbmath_1_1_quaternion.html#a5f0cf87d95e4f5ec8e4783698de2e53f">  197</a></span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classgbmath_1_1_quaternion.html#a5f0cf87d95e4f5ec8e4783698de2e53f" title="reset to identity ">reset</a>() { <a class="code" href="classgbmath_1_1_quaternion.html#a9e2a669b650eaaab081c239f9089c442">setIdentity</a>(); }</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;</div>
<div class="line"><a name="l00200"></a><span class="lineno"><a class="code" href="classgbmath_1_1_quaternion.html#a91176a26e17f6860ff3d74aab961dc94">  200</a></span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="classgbmath_1_1_quaternion.html#a91176a26e17f6860ff3d74aab961dc94" title="ckeck identity ">isIdentity</a>(<span class="keywordtype">float</span> eps = 0.0f)<span class="keyword"> const</span></div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;            <span class="keywordflow">return</span> <a class="code" href="namespacegbmath.html#a6770b1369e60e627d9e86b8ec68188e1">abs</a>(<a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a>) &lt;= eps &amp;&amp; <a class="code" href="namespacegbmath.html#a6770b1369e60e627d9e86b8ec68188e1">abs</a>(<a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a>) &lt;= eps &amp;&amp; <a class="code" href="namespacegbmath.html#a6770b1369e60e627d9e86b8ec68188e1">abs</a>(<a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a>) &lt;= eps &amp;&amp; <a class="code" href="namespacegbmath.html#a6770b1369e60e627d9e86b8ec68188e1">abs</a>(<a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a>) - 1.0f &lt;= eps;</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        }</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;</div>
<div class="line"><a name="l00205"></a><span class="lineno"><a class="code" href="classgbmath_1_1_quaternion.html#a834fa59bc3de34d33efaf49491ead89e">  205</a></span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">float</span> <a class="code" href="classgbmath_1_1_quaternion.html#a834fa59bc3de34d33efaf49491ead89e">length</a>()<span class="keyword"> const </span></div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;<span class="keyword">        </span>{ </div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;            <span class="keywordflow">return</span> sqrt(<a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a>*<a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a> + <a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a>*<a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a> + <a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a>*<a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a> + <a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a>*<a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a>); </div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;        }</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;        </div>
<div class="line"><a name="l00211"></a><span class="lineno"><a class="code" href="classgbmath_1_1_quaternion.html#ac80be2750982ec8210dc7ac0c3a19226">  211</a></span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">float</span> <a class="code" href="classgbmath_1_1_quaternion.html#ac80be2750982ec8210dc7ac0c3a19226" title="get length squared ">lengthSq</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span>   (<a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a>*<a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a> + <a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a>*<a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a> + <a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a>*<a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a> + <a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a>*<a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a>); }</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;</div>
<div class="line"><a name="l00213"></a><span class="lineno"><a class="code" href="classgbmath_1_1_quaternion.html#a5130bea810979f459d5052cd08051570">  213</a></span>&#160;        <span class="keyword">inline</span> <a class="code" href="classgbmath_1_1_quaternion.html" title="standard quaternion. ">Quaternion</a>&amp;  <a class="code" href="classgbmath_1_1_quaternion.html#a5130bea810979f459d5052cd08051570">normalize</a>()</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;        {</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">float</span> len = <a class="code" href="classgbmath_1_1_quaternion.html#a834fa59bc3de34d33efaf49491ead89e">length</a>();</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;            <span class="keywordflow">if</span> (len &gt; 1e-6)</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;            {</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;                <a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a> /= len;</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;                <a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a> /= len;</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;                <a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a> /= len;</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;                <a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a> /= len;</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;            }</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;            <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;        }</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;</div>
<div class="line"><a name="l00227"></a><span class="lineno"><a class="code" href="classgbmath_1_1_quaternion.html#a44d7517891dcfee54831d4ac5a088bfc">  227</a></span>&#160;        <span class="keyword">inline</span> <a class="code" href="classgbmath_1_1_quaternion.html" title="standard quaternion. ">Quaternion</a> <a class="code" href="classgbmath_1_1_quaternion.html#a44d7517891dcfee54831d4ac5a088bfc" title="return the conjugate quaternion ">conjugate</a>(<span class="keyword">const</span> <a class="code" href="classgbmath_1_1_quaternion.html" title="standard quaternion. ">Quaternion</a> &amp;q)<span class="keyword"> const</span></div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;              <a class="code" href="classgbmath_1_1_quaternion.html" title="standard quaternion. ">Quaternion</a> res;</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;                res.<a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a> =  q.<a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a>;</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;                res.<a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a> = -q.<a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a>;</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;                res.<a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a> = -q.<a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a>;</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;                res.<a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a> = -q.<a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a>;</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;              <span class="keywordflow">return</span>  res;</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;        }</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;</div>
<div class="line"><a name="l00238"></a><span class="lineno"><a class="code" href="classgbmath_1_1_quaternion.html#a264fd43b0e574148711ac71b1e7f1876">  238</a></span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">float</span> <a class="code" href="classgbmath_1_1_quaternion.html#a264fd43b0e574148711ac71b1e7f1876" title="return a dot product ">dot</a>(<span class="keyword">const</span> <a class="code" href="classgbmath_1_1_quaternion.html" title="standard quaternion. ">Quaternion</a> &amp;g)<span class="keyword"> const</span></div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;            <span class="keywordflow">return</span> <a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a>*g.<a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a> + <a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a>*g.<a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a> + <a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a>*g.<a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a> + <a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a>*g.<a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a>;</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;        }</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;        <a class="code" href="classgbmath_1_1_quaternion.html" title="standard quaternion. ">Quaternion</a>  <a class="code" href="classgbmath_1_1_quaternion.html#a4b17875d52a506da9c927c50b2a4b82c" title="return exponentiation ">pow</a>(<span class="keyword">const</span> <a class="code" href="classgbmath_1_1_quaternion.html" title="standard quaternion. ">Quaternion</a> &amp;q, <span class="keywordtype">float</span> exponent) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;</div>
<div class="line"><a name="l00246"></a><span class="lineno"><a class="code" href="classgbmath_1_1_quaternion.html#a9718fb66722a7ee7fd8a0ad9211f0fbb">  246</a></span>&#160;        <span class="keywordtype">void</span> <a class="code" href="classgbmath_1_1_quaternion.html#a9718fb66722a7ee7fd8a0ad9211f0fbb">inverse</a> ()</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;        {</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">float</span> fNorm = <a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a>*<a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a> + <a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a>*<a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a> + <a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a>*<a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a> + <a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a>*<a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a>;</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;            <span class="keywordflow">if</span> ( fNorm &gt; 0.0 )</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;            {</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;                <span class="keyword">const</span> <span class="keywordtype">float</span> fin = 1.0f/fNorm;</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;                w =   w * fin;</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;                <a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a> = - <a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a> * fin;</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;                <a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a> = - <a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a> * fin;</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;                <a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a> = - <a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a> * fin;</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;            }</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;            <span class="keywordflow">else</span></div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;            {</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;            }</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;        }</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;</div>
<div class="line"><a name="l00264"></a><span class="lineno"><a class="code" href="classgbmath_1_1_quaternion.html#a67d5edb7f150bb5f900efe016089ab9e">  264</a></span>&#160;        <span class="keyword">inline</span> <a class="code" href="classgbmath_1_1_quaternion.html" title="standard quaternion. ">Quaternion</a> <a class="code" href="classgbmath_1_1_quaternion.html#a67d5edb7f150bb5f900efe016089ab9e" title="return inversed ">inversed</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;          <a class="code" href="classgbmath_1_1_quaternion.html" title="standard quaternion. ">Quaternion</a> res(*<span class="keyword">this</span>);</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;          res.<a class="code" href="classgbmath_1_1_quaternion.html#a9718fb66722a7ee7fd8a0ad9211f0fbb">inverse</a>();</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;          <span class="keywordflow">return</span> res;</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;        }</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160; </div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;<span class="preprocessor">#ifdef __D3DX9MATH_H__</span></div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;<span class="preprocessor"></span></div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;        <a class="code" href="classgbmath_1_1_quaternion.html" title="standard quaternion. ">Quaternion</a> ln(<span class="keyword">const</span> <a class="code" href="classgbmath_1_1_quaternion.html" title="standard quaternion. ">Quaternion</a>&amp; q)</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;        {</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;            <span class="comment">//A unit quaternion, is defined by:</span></div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;            <span class="comment">//Q == (cos(theta), sin(theta) * v) where |v| = 1</span></div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;            <span class="comment">//The natural logarithm of Q is, ln(Q) = (0, theta * v)</span></div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;            <a class="code" href="classgbmath_1_1_quaternion.html" title="standard quaternion. ">Quaternion</a> res;</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;            D3DXQuaternionLn(res , *<span class="keyword">this</span> );</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;            <span class="keywordflow">return</span> res;</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;        }</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;        <a class="code" href="classgbmath_1_1_quaternion.html#ace63b7eb298503624b207e9325ebc139">Quaternion</a>  exp(<span class="keyword">const</span> <a class="code" href="classgbmath_1_1_quaternion.html#ace63b7eb298503624b207e9325ebc139">Quaternion</a>&amp; qu)<span class="keyword"> const</span></div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;            <span class="comment">//Given a pure quaternion defined by:</span></div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;            <span class="comment">// q = (0, theta * v);</span></div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;            <span class="comment">//This method calculates the exponential result.</span></div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;            <span class="comment">//exp(Q) = (cos(theta), sin(theta) * v)</span></div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;            <a class="code" href="classgbmath_1_1_quaternion.html#ace63b7eb298503624b207e9325ebc139">Quaternion</a> res;</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;            D3DXQuaternionExp(  res , qu  );</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;            <span class="keywordflow">return</span> res;</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;        }</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;       <a class="code" href="classgbmath_1_1_quaternion.html#ace63b7eb298503624b207e9325ebc139">Quaternion</a>&amp; setBaryCentric(<span class="keyword">const</span> <a class="code" href="classgbmath_1_1_quaternion.html#ace63b7eb298503624b207e9325ebc139">Quaternion</a>&amp; q1, <span class="keyword">const</span> <a class="code" href="classgbmath_1_1_quaternion.html#ace63b7eb298503624b207e9325ebc139">Quaternion</a>&amp; q2,<span class="keyword">const</span> <a class="code" href="classgbmath_1_1_quaternion.html#ace63b7eb298503624b207e9325ebc139">Quaternion</a>&amp; q3, <span class="keywordtype">float</span> f, <span class="keywordtype">float</span> g )</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;       {</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;           D3DXQuaternionBaryCentric( *<span class="keyword">this</span>, q1, q2, q3, f, g);</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;           <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;       }</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;      <a class="code" href="classgbmath_1_1_quaternion.html#ace63b7eb298503624b207e9325ebc139">Quaternion</a>&amp; setSquad(<span class="keyword">const</span> <a class="code" href="classgbmath_1_1_quaternion.html#ace63b7eb298503624b207e9325ebc139">Quaternion</a>&amp; q1, <span class="keyword">const</span> <a class="code" href="classgbmath_1_1_quaternion.html#ace63b7eb298503624b207e9325ebc139">Quaternion</a>&amp; a,  <span class="keyword">const</span> <a class="code" href="classgbmath_1_1_quaternion.html#ace63b7eb298503624b207e9325ebc139">Quaternion</a>&amp; b,  <span class="keyword">const</span> <a class="code" href="classgbmath_1_1_quaternion.html#ace63b7eb298503624b207e9325ebc139">Quaternion</a>&amp; c, <span class="keywordtype">float</span> t )</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;      {</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;          D3DXQuaternionSquad( *<span class="keyword">this</span>, q1, a, b, c, t);</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;          <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;      }</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;      <span class="keyword">static</span> <span class="keywordtype">void</span>  squadSetup( <a class="code" href="classgbmath_1_1_quaternion.html#ace63b7eb298503624b207e9325ebc139">Quaternion</a>&amp; AOut, <a class="code" href="classgbmath_1_1_quaternion.html#ace63b7eb298503624b207e9325ebc139">Quaternion</a>&amp; BOut, <a class="code" href="classgbmath_1_1_quaternion.html#ace63b7eb298503624b207e9325ebc139">Quaternion</a>&amp; COut,</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;                 <span class="keyword">const</span> <a class="code" href="classgbmath_1_1_quaternion.html#ace63b7eb298503624b207e9325ebc139">Quaternion</a>&amp; Q0, <span class="keyword">const</span> <a class="code" href="classgbmath_1_1_quaternion.html#ace63b7eb298503624b207e9325ebc139">Quaternion</a>&amp; Q1, <span class="keyword">const</span> <a class="code" href="classgbmath_1_1_quaternion.html#ace63b7eb298503624b207e9325ebc139">Quaternion</a>&amp; Q2, <span class="keyword">const</span> <a class="code" href="classgbmath_1_1_quaternion.html#ace63b7eb298503624b207e9325ebc139">Quaternion</a>&amp; Q3 )</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;       {</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;             D3DXQuaternionSquadSetup( AOut,  BOut, COut, Q0,  Q1, Q2 , Q3  );</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;       }</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;<span class="preprocessor">#endif __D3DX9MATH_H__</span></div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;<span class="preprocessor"></span></div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;        <a class="code" href="classgbmath_1_1_quaternion.html#ace63b7eb298503624b207e9325ebc139">Quaternion</a> <a class="code" href="classgbmath_1_1_quaternion.html#a9fa6f57f2e920e75bdfc800b4b94ede7">slerp</a>(<span class="keyword">const</span> <a class="code" href="classgbmath_1_1_quaternion.html#ace63b7eb298503624b207e9325ebc139">Quaternion</a>&amp;q, <span class="keywordtype">float</span> t);</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;        <span class="comment">//inline Quaternion slerp(const Quaternion &amp;q, float t) const { Quaternion r = slerp(*this, q, t); return r;  };</span></div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;</div>
<div class="line"><a name="l00340"></a><span class="lineno"><a class="code" href="classgbmath_1_1_quaternion.html#ac83b75488f1951f411f5aa7f0acc6ca2">  340</a></span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">float</span> <a class="code" href="classgbmath_1_1_quaternion.html#ac83b75488f1951f411f5aa7f0acc6ca2">getRotationAngle</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;            <span class="comment">// Compute the half angle.  Remember that w = cos(theta / 2)</span></div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;            <span class="keywordtype">float</span> thetaOver2 =  <a class="code" href="namespacegbmath.html#a943dd559c743e425059e481a41d0e617" title="Same as acos(x), but if x is out of range, it is &quot;clamped&quot; to the nearest valid value. The value returned is in range 0...pi, the same as the standard C acos() function. ">safeAcos</a>(<a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a>);</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;            <span class="comment">// Return the rotation angle</span></div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;            <span class="keywordflow">return</span> thetaOver2 * 2.0f;</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;        }</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;         <a class="code" href="structgbmath_1_1vec3.html" title="3d-base vector. Corrected by operators epislon ">vec3</a>  <a class="code" href="classgbmath_1_1_quaternion.html#af6ff0daa4332218515e5ebc99a0d759f">getRotationAxis</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;        <a class="code" href="structgbmath_1_1axies__angle.html" title="The axis of rotation and angle. ">axies_angle</a> <a class="code" href="classgbmath_1_1_quaternion.html#ad72d193610738b2a50edfcc13b45e8a2">getRotationAxiesAngle</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;        <a class="code" href="structgbmath_1_1axies__angle.html" title="The axis of rotation and angle. ">axies_angle</a> <a class="code" href="classgbmath_1_1_quaternion.html#a80dccf15808d9a43985d3aa9fdadf672">toAxiesAngle</a>() <span class="keyword">const</span> ;</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;</div>
<div class="line"><a name="l00355"></a><span class="lineno"><a class="code" href="classgbmath_1_1_quaternion.html#a640fa7b00c2418f26c6eb8d503fe0452">  355</a></span>&#160;        <span class="keyword">inline</span> <a class="code" href="classgbmath_1_1_quaternion.html" title="standard quaternion. ">Quaternion</a>&amp; <a class="code" href="classgbmath_1_1_quaternion.html#a640fa7b00c2418f26c6eb8d503fe0452">setRotationX</a>(<span class="keywordtype">float</span> theta) {</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;            <span class="comment">// Compute the half angle</span></div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">float</span> k = theta*0.5f;</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;            <span class="comment">// Set the values</span></div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;            <a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a> = cos(k);</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;            <a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a> = sin(k);</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;            <a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a> = 0.0f;</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;            <a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a> = 0.0f;</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;            <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;        }</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;</div>
<div class="line"><a name="l00368"></a><span class="lineno"><a class="code" href="classgbmath_1_1_quaternion.html#ac110475dc2719cacbc6db80a41226cd4">  368</a></span>&#160;        <span class="keyword">inline</span> <a class="code" href="classgbmath_1_1_quaternion.html" title="standard quaternion. ">Quaternion</a>&amp;  <a class="code" href="classgbmath_1_1_quaternion.html#ac110475dc2719cacbc6db80a41226cd4">setRotationY</a>(<span class="keywordtype">float</span> theta)</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;        {</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">float</span> k =   theta*0.5f;</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;            <a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a> = cos(k);</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;            <a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a> = 0.0f;</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;            <a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a> = sin(k);</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;            <a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a> = 0.0f;</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;            <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;        }</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;</div>
<div class="line"><a name="l00378"></a><span class="lineno"><a class="code" href="classgbmath_1_1_quaternion.html#a8dac6d00148afd1b35d21b15b7d98d0c">  378</a></span>&#160;        <span class="keyword">inline</span> <a class="code" href="classgbmath_1_1_quaternion.html" title="standard quaternion. ">Quaternion</a>&amp;  <a class="code" href="classgbmath_1_1_quaternion.html#a8dac6d00148afd1b35d21b15b7d98d0c">setRotationZ</a>(<span class="keywordtype">float</span> theta)</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;        {</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;            <span class="keywordtype">float</span>   k = theta*0.5f;</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;            <a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a> = cos(k);</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;            <a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a> = 0.0f;</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;            <a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a> = 0.0f;</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;            <a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a> = sin(k);</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;            <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;        }</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;        <a class="code" href="classgbmath_1_1_quaternion.html" title="standard quaternion. ">Quaternion</a>&amp;         <a class="code" href="classgbmath_1_1_quaternion.html#ae655dc102b620ebe8673bad796e6d382">setRotationAxis</a>(<span class="keyword">const</span>  <a class="code" href="structgbmath_1_1vec3.html" title="3d-base vector. Corrected by operators epislon ">vec3</a> &amp;axis, <span class="keywordtype">float</span> theta) ;</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;        <a class="code" href="classgbmath_1_1_quaternion.html" title="standard quaternion. ">Quaternion</a>&amp;  <a class="code" href="classgbmath_1_1_quaternion.html#ae655dc102b620ebe8673bad796e6d382">setRotationAxis</a>(<span class="keyword">const</span> <a class="code" href="structgbmath_1_1axies__angle.html" title="The axis of rotation and angle. ">axies_angle</a>&amp; aa) ;</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;</div>
<div class="line"><a name="l00396"></a><span class="lineno"><a class="code" href="classgbmath_1_1_quaternion.html#ae3547e45e6da7cbe5d729e39073eeda5">  396</a></span>&#160;        <span class="keywordtype">void</span> <a class="code" href="classgbmath_1_1_quaternion.html#ae3547e45e6da7cbe5d729e39073eeda5" title="set as rotation quaternion ( Построить поворотный по углам эллера) ">setRotationYawPitchRoll</a>( <span class="keywordtype">float</span> yaw, <span class="keywordtype">float</span> pitch, <span class="keywordtype">float</span> roll)</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;        {</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;            <span class="keywordtype">float</span>   sp, sb, sh;</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;            <span class="keywordtype">float</span>   cp, cb, ch;</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;            <a class="code" href="namespacegbmath.html#a1d44db3ba00e7255e2ddf760df556ffd" title="sine and cosine. ">gbmath:: sincos</a>(pitch * 0.5f , sp , cp  );</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;            <a class="code" href="namespacegbmath.html#a1d44db3ba00e7255e2ddf760df556ffd" title="sine and cosine. ">gbmath:: sincos</a>(roll * 0.5f  , sb , cb  );</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;            <a class="code" href="namespacegbmath.html#a1d44db3ba00e7255e2ddf760df556ffd" title="sine and cosine. ">gbmath:: sincos</a>(yaw * 0.5f   , sh , ch  );</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;              <a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a> =  -(-ch*sp*cb - sh*cp*sb);</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;              <a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a> =  -(ch*sp*sb  - sh*cb*cp);</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;              <a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a> =  -(sh*sp*cb  - ch*cp*sb);</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;              <a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a> =  ch*cp*cb + sh*sp*sb;</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;        }</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;        <span class="keywordtype">void</span> <a class="code" href="classgbmath_1_1_quaternion.html#a451eb63222c75d8afb85210153356c51" title="Construct turning the corners Eller. ">setRotationEulersAngles</a>(<span class="keyword">const</span> <a class="code" href="classgbmath_1_1euler__angles.html" title="Ehler angles. Angles of rotation along all three axes. ">euler_angles</a>&amp; ea);</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;</div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;        <a class="code" href="classgbmath_1_1_quaternion.html" title="standard quaternion. ">Quaternion</a>&amp;  <a class="code" href="classgbmath_1_1_quaternion.html#a08abd49fa41bda4037c9230a78e62724" title="set as rotation from matrix ">setRotationMatrix</a>(<span class="keyword">const</span>  <a class="code" href="structgbmath_1_1mat44.html" title="matrix 4x4. ">mat44</a>&amp; m);</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160; <span class="comment">/*****************************</span></div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;<span class="comment">        inline void  invert()</span></div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;<span class="comment">        {</span></div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;<span class="comment">            *this = conjugate(*this);</span></div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;<span class="comment">            *this /= lengthSq();</span></div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;<span class="comment">        }</span></div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;<span class="comment"></span></div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;<span class="comment">        inline Quaternion inverse() const</span></div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;<span class="comment">        {</span></div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;<span class="comment">            return conjugate(*this) / lengthSq();</span></div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;<span class="comment">        }</span></div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;<span class="comment">*******************************/</span></div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160; </div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;</div>
<div class="line"><a name="l00430"></a><span class="lineno"><a class="code" href="classgbmath_1_1_quaternion.html#ad5b0e6c85689f4caa6b3c547c3746a5f">  430</a></span>&#160;        <span class="keyword">friend</span> std::ostream &amp;<a class="code" href="classgbmath_1_1_quaternion.html#ad5b0e6c85689f4caa6b3c547c3746a5f">operator &lt;&lt; </a>(std::ostream &amp;stream, <span class="keyword">const</span> <a class="code" href="classgbmath_1_1_quaternion.html" title="standard quaternion. ">Quaternion</a>&amp; q)</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;        {</div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;            stream &lt;&lt; q.<a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a> &lt;&lt; <span class="stringliteral">&quot; &quot;</span> &lt;&lt; q.<a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a> &lt;&lt; <span class="stringliteral">&quot; &quot;</span> &lt;&lt; q.<a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a> &lt;&lt; <span class="stringliteral">&quot; &quot;</span> &lt;&lt; q.<a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a>;</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;            <span class="keywordflow">return</span> stream;</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;        }</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;</div>
<div class="line"><a name="l00436"></a><span class="lineno"><a class="code" href="classgbmath_1_1_quaternion.html#adea80a9eb5e7ad34a2287037e56b971f">  436</a></span>&#160;        <span class="keyword">friend</span> std::istream &amp;<a class="code" href="classgbmath_1_1_quaternion.html#adea80a9eb5e7ad34a2287037e56b971f">operator &gt;&gt; </a>(std::istream &amp;stream,  <a class="code" href="classgbmath_1_1_quaternion.html" title="standard quaternion. ">Quaternion</a>&amp; q)</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;        {</div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;            stream &gt;&gt; q.<a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a>;</div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;            stream &gt;&gt; q.<a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a>;</div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;            stream &gt;&gt; q.<a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a>;</div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;            stream &gt;&gt; q.<a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a>;</div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;            <span class="keywordflow">return</span> stream;</div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;        }</div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;</div>
<div class="line"><a name="l00445"></a><span class="lineno"><a class="code" href="classgbmath_1_1_quaternion.html#a897116f8252acb853b9188348f462c11">  445</a></span>&#160;        <span class="keyword">operator</span> std::string()<span class="keyword"> const</span></div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;            std::ostringstream ss;</div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;            ss &lt;&lt; <a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a> &lt;&lt; <span class="stringliteral">&quot; &quot;</span> &lt;&lt; <a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a> &lt;&lt; <span class="stringliteral">&quot; &quot;</span> &lt;&lt; <a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a> &lt;&lt; <span class="stringliteral">&quot; &quot;</span> &lt;&lt; <a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a>;</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;            <span class="keywordflow">return</span> ss.str();</div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;        }</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;</div>
<div class="line"><a name="l00452"></a><span class="lineno"><a class="code" href="classgbmath_1_1_quaternion.html#a19cf4a3a9a679ea45a41341e54c7f327">  452</a></span>&#160;        <span class="keywordtype">void</span> <a class="code" href="classgbmath_1_1_quaternion.html#a19cf4a3a9a679ea45a41341e54c7f327">operator = </a>(<span class="keyword">const</span> std::string&amp; str) <span class="keywordflow">throw</span> (std::invalid_argument)</div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;        {</div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;            std::istringstream ss(str);</div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;            ss &gt;&gt; <a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a>;</div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;            ss &gt;&gt; <a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a>;</div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;            ss &gt;&gt; <a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a>;</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;            ss &gt;&gt; <a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a>;</div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;            <span class="keywordflow">if</span>( ss.fail() ) <span class="keywordflow">throw</span> std::invalid_argument(<span class="stringliteral">&quot;bad input string&quot;</span>);</div>
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<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;</div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;</div>
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<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;</div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;}</div>
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